#include "kalmanfilter.h"


int main()
{
    KalmanFilter kf;
    while(getlint(x,y,时间戳)){
         if(激光雷达尚未初始化){
             kf.Initialization(x_in);
             P<< 4*4;
             Q<< 4*4;
             H<< 2*4;
             R<<2*2;
         }
         获取两帧时间差delta t;
         F<< 4*4;
         kf.Prediction();
         kf.KFUpdate();
         VectorXd x_out=kf.GetX();
    }
}
